相关论文: Autonomous Navigation via Deep Reinforcement Learn…
We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for…
Reinforcement learning can enable robots to navigate to distant goals while optimizing user-specified reward functions, including preferences for following lanes, staying on paved paths, or avoiding freshly mowed grass. However, online…
Our research investigates the challenges Deep Reinforcement Learning (DRL) faces in complex, Partially Observable Markov Decision Processes (POMDP) such as autonomous driving (AD), and proposes a solution for vision-based navigation in…
Transfer learning entails taking an artificial neural network (ANN) that is trained on a source dataset and adapting it to a new target dataset. While this has been shown to be quite powerful, its use has generally been restricted by…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
Conditional computation for Deep Neural Networks (DNNs) reduce overall computational load and improve model accuracy by running a subset of the network. In this work, we present a runtime throttleable neural network (TNN) that can…
Transfer Learning, a technique where a model/agent can use the knowledge/expertise that it gained from one task and exploit that to solve another closely-related task, is often used in tackling problems in deep learning. Through this…
In this paper, we introduce HDPlanner, a deep reinforcement learning (DRL) based framework designed to tackle two core and challenging tasks for mobile robots: autonomous exploration and navigation, where the robot must optimize its…
Deep Neural Networks (DNNs) have been widely applied in Internet of Things (IoT) systems for various tasks such as image classification and object detection. However, heavyweight DNN models can hardly be deployed on edge devices due to…
As an alternative solution for quick disaster recovery of backhaul/fronthaul links, in this paper, a dynamic unmanned aerial vehicles (UAV)-assisted heterogeneous (HetNet) network equipped with directional terahertz (THz) antennas is…
Deep Neural Networks (DNNs) have had a significant impact on domains like autonomous vehicles and smart cities through low-latency inferencing on edge computing devices close to the data source. However, DNN training on the edge is poorly…
Real-time applications of energy management strategies (EMSs) in hybrid electric vehicles (HEVs) are the harshest requirements for researchers and engineers. Inspired by the excellent problem-solving capabilities of deep reinforcement…
Allowing less capable devices to offload computational tasks to more powerful devices or servers enables the development of new applications that may not run correctly on the device itself. Deciding where and why to run each of those…
Wide Area Networks (WAN) are a key infrastructure in today's society. During the last years, WANs have seen a considerable increase in network's traffic and network applications, imposing new requirements on existing network technologies…
This study introduces TRANS: Terrain-aware Reinforcement learning for Agile Navigation under Social interactions, a deep reinforcement learning (DRL) framework for quadrupedal social navigation over unstructured terrains. Conventional…
Deep Reinforcement Learning has enabled the learning of policies for complex tasks in partially observable environments, without explicitly learning the underlying model of the tasks. While such model-free methods achieve considerable…
Many machine learning methods have been recently developed to circumvent the high computational cost of the gradient-based topology optimization. These methods typically require extensive and costly datasets for training, have a difficult…
This article presents a digital twin (DT)-enhanced reinforcement learning (RL) framework aimed at optimizing performance and reliability in network resource management, since the traditional RL methods face several unified challenges when…
The traditional Internet has encountered a bottleneck in allocating network resources for emerging technology needs. Network virtualization (NV) technology as a future network architecture, the virtual network embedding (VNE) algorithm it…
Deep neural networks (DNN) have been widely used and play a major role in the field of computer vision and autonomous navigation. However, these DNNs are computationally complex and their deployment over resource-constrained platforms is…